Re: [eigen] Allocation policy of eigen decompositions

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Some updates,

The patch is coming out quite well, but there is something that I'd like to ask the devs about firs. Up until this morning I had all decompositions except those in the Eigenvalues module (will talk about that in a separate email) working as expected, then I pulled in recent changes (storageorders branch included) and something changed in the behavior of the applyHouseholderOnTheLeft method of MatrixBase<Derived>.

Line 101 of Householder/HouseHolder.h states:

tmp.noalias() = essential.adjoint().eval() * bottom;
When using dynamic matrices, the highlighted part performs four heap allocations, and since all QR decompositions use applyHouseholderOnTheLeft, their compute() method ends up heap-allocating as well, which is what I'm trying to avoid. My question is then, can these allocations be prevented?, and if so what would be the best way?. I would also appreciate some insight into why these heap allocations weren't occurring before.

Thanks in advance,


Adolfo Rodríguez Tsouroukdissian, Ph. D.

Robotics engineer
Tel. +34.93.414.53.47
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